This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
main.cpp@6:48eeb41188dd, 2013-03-23 (annotated)
- Committer:
- chrigelburri
- Date:
- Sat Mar 23 13:52:48 2013 +0000
- Revision:
- 6:48eeb41188dd
- Parent:
- 5:48a258f6335e
- Child:
- 7:34be8b3a979c
mit link und rechten Radradius
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 2:d8e1613dc38b | 1 | /** |
chrigelburri | 6:48eeb41188dd | 2 | * \mainpage Index Page |
chrigelburri | 6:48eeb41188dd | 3 | * |
chrigelburri | 3:92ba0254af87 | 4 | * @file main.cpp |
chrigelburri | 2:d8e1613dc38b | 5 | * @author Christian Burri |
chrigelburri | 2:d8e1613dc38b | 6 | * |
chrigelburri | 2:d8e1613dc38b | 7 | * @section LICENSE |
chrigelburri | 2:d8e1613dc38b | 8 | * |
chrigelburri | 2:d8e1613dc38b | 9 | * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 1:6cd533a712c6 | 10 | * All rights reserved. |
chrigelburri | 2:d8e1613dc38b | 11 | * |
chrigelburri | 2:d8e1613dc38b | 12 | * @section DESCRIPTION |
chrigelburri | 2:d8e1613dc38b | 13 | * |
chrigelburri | 3:92ba0254af87 | 14 | * This Programm is for a autonomous robot for the competition |
chrigelburri | 4:3a97923ff2d4 | 15 | * at the Hochschule Luzern. |
chrigelburri | 3:92ba0254af87 | 16 | * We are one of the 32 teams. In the team #1 is: |
chrigelburri | 4:3a97923ff2d4 | 17 | * - Bauernfeind Julia <B>WI</B> <a href="julia.bauernfeind@stud.hslu.ch">julia.bauernfeind@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 18 | * - Büttler Pirmin <B>WI</B> <a href="pirmin.buetler@stud.hslu.ch">pirmin.buetler@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 19 | * - Amberg Reto <B>I</B> <a href="reto.amberg@stud.hslu.ch">reto.amberg@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 20 | * - Galliker Arno <B>I</B> <a href="arno.galliker@stud.hslu.ch">arno.galliker@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 21 | * - Amrein Marcel <B>M</B> <a href="marcel.amrein@stud.hslu.ch">marcel.amrein@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 22 | * - Flühler Ramon <B>M</B> <a href="ramon.fluehler@stud.hslu.ch">ramon.fluehler@stud.hslu.ch</a> |
chrigelburri | 3:92ba0254af87 | 23 | * - Burri Christian <B>ET</B> <a href="christian.burri@stud.hslu.ch">christian.burri@stud.hslu.ch</a> |
chrigelburri | 4:3a97923ff2d4 | 24 | * |
chrigelburri | 4:3a97923ff2d4 | 25 | * The postition control is based on polar coordiantes. |
chrigelburri | 3:92ba0254af87 | 26 | * For more information see here: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a> |
chrigelburri | 2:d8e1613dc38b | 27 | * |
chrigelburri | 1:6cd533a712c6 | 28 | */ |
chrigelburri | 1:6cd533a712c6 | 29 | |
chrigelburri | 1:6cd533a712c6 | 30 | #include "mbed.h" |
chrigelburri | 1:6cd533a712c6 | 31 | #include "math.h" |
chrigelburri | 1:6cd533a712c6 | 32 | #include "defines.h" |
chrigelburri | 1:6cd533a712c6 | 33 | #include "State.h" |
chrigelburri | 1:6cd533a712c6 | 34 | #include "HMC5883L.h" |
chrigelburri | 1:6cd533a712c6 | 35 | #include "HMC6352.h" |
chrigelburri | 1:6cd533a712c6 | 36 | #include "RobotControl.h" |
chrigelburri | 1:6cd533a712c6 | 37 | #include "Ping.h" |
chrigelburri | 1:6cd533a712c6 | 38 | #include "PowerControl/EthernetPowerControl.h" |
chrigelburri | 6:48eeb41188dd | 39 | //#include "android.h" |
chrigelburri | 6:48eeb41188dd | 40 | |
chrigelburri | 6:48eeb41188dd | 41 | //Android |
chrigelburri | 6:48eeb41188dd | 42 | //AdkTerm AdkTerm; |
chrigelburri | 1:6cd533a712c6 | 43 | |
chrigelburri | 1:6cd533a712c6 | 44 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 45 | AnalogIn battery(p15); // Battery check |
chrigelburri | 1:6cd533a712c6 | 46 | |
chrigelburri | 1:6cd533a712c6 | 47 | // compass |
chrigelburri | 1:6cd533a712c6 | 48 | //HMC5883L compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 49 | //HMC6352 compass(p9, p10, PERIOD_COMPASS); // sda, sdl (I2C) |
chrigelburri | 1:6cd533a712c6 | 50 | |
chrigelburri | 1:6cd533a712c6 | 51 | //Hallsensor |
chrigelburri | 1:6cd533a712c6 | 52 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 53 | Hallsensor hallLeft(p18, p17, p16); |
chrigelburri | 1:6cd533a712c6 | 54 | //hall1, hall2, hall3 |
chrigelburri | 1:6cd533a712c6 | 55 | Hallsensor hallRight(p27, p28, p29); |
chrigelburri | 1:6cd533a712c6 | 56 | |
chrigelburri | 1:6cd533a712c6 | 57 | // Motors |
chrigelburri | 1:6cd533a712c6 | 58 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 59 | MaxonESCON leftMotor(p26, p25, p24, p19, &hallLeft); |
chrigelburri | 1:6cd533a712c6 | 60 | //enb, ready, pwm, actualSpeed, Hallsensor object |
chrigelburri | 1:6cd533a712c6 | 61 | MaxonESCON rightMotor(p23, p22, p21, p20, &hallRight); |
chrigelburri | 1:6cd533a712c6 | 62 | |
chrigelburri | 1:6cd533a712c6 | 63 | // Robot Control |
chrigelburri | 1:6cd533a712c6 | 64 | RobotControl robotControl (&leftMotor, &rightMotor, /*&compass,*/ PERIOD_ROBOTCONTROL); |
chrigelburri | 1:6cd533a712c6 | 65 | |
chrigelburri | 1:6cd533a712c6 | 66 | // Logging & State |
chrigelburri | 1:6cd533a712c6 | 67 | state_t s; // stuct state |
chrigelburri | 1:6cd533a712c6 | 68 | State state(&s, &robotControl, &leftMotor, &rightMotor, /*&compass,*/ &battery, PERIOD_STATE); |
chrigelburri | 1:6cd533a712c6 | 69 | |
chrigelburri | 1:6cd533a712c6 | 70 | // PC USB communications |
chrigelburri | 1:6cd533a712c6 | 71 | Serial pc(USBTX, USBRX); |
chrigelburri | 1:6cd533a712c6 | 72 | |
chrigelburri | 1:6cd533a712c6 | 73 | DigitalOut myled(LED1); |
chrigelburri | 1:6cd533a712c6 | 74 | |
chrigelburri | 1:6cd533a712c6 | 75 | |
chrigelburri | 1:6cd533a712c6 | 76 | // LiPo Batterie |
chrigelburri | 1:6cd533a712c6 | 77 | float batterie_voltage; |
chrigelburri | 1:6cd533a712c6 | 78 | |
chrigelburri | 1:6cd533a712c6 | 79 | int main() |
chrigelburri | 1:6cd533a712c6 | 80 | { |
chrigelburri | 1:6cd533a712c6 | 81 | /** Normal mbed power level for this setup is around 690mW |
chrigelburri | 1:6cd533a712c6 | 82 | * assuming 5V used on Vin pin |
chrigelburri | 1:6cd533a712c6 | 83 | * If you don't need networking... |
chrigelburri | 1:6cd533a712c6 | 84 | * Power down Ethernet interface - saves around 175mW |
chrigelburri | 1:6cd533a712c6 | 85 | * Also need to unplug network cable - just a cable sucks power |
chrigelburri | 1:6cd533a712c6 | 86 | */ |
chrigelburri | 1:6cd533a712c6 | 87 | PHY_PowerDown(); |
chrigelburri | 2:d8e1613dc38b | 88 | |
chrigelburri | 2:d8e1613dc38b | 89 | // robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 90 | // compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); |
chrigelburri | 1:6cd533a712c6 | 91 | // compass.start(); |
chrigelburri | 4:3a97923ff2d4 | 92 | |
chrigelburri | 2:d8e1613dc38b | 93 | state.initPlotFile(); |
chrigelburri | 2:d8e1613dc38b | 94 | |
chrigelburri | 1:6cd533a712c6 | 95 | robotControl.start(); |
chrigelburri | 1:6cd533a712c6 | 96 | robotControl.setEnable(false); |
chrigelburri | 6:48eeb41188dd | 97 | wait(0.1); |
chrigelburri | 1:6cd533a712c6 | 98 | robotControl.setEnable(true); |
chrigelburri | 6:48eeb41188dd | 99 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 100 | robotControl.setAllToZero(0, 0, PI/2 ); |
chrigelburri | 6:48eeb41188dd | 101 | // robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); |
chrigelburri | 2:d8e1613dc38b | 102 | |
chrigelburri | 1:6cd533a712c6 | 103 | leftMotor.setPulses(0); |
chrigelburri | 1:6cd533a712c6 | 104 | rightMotor.setPulses(0); |
chrigelburri | 2:d8e1613dc38b | 105 | |
chrigelburri | 2:d8e1613dc38b | 106 | state.startTimerFromZero(); |
chrigelburri | 1:6cd533a712c6 | 107 | state.start(); |
chrigelburri | 2:d8e1613dc38b | 108 | |
chrigelburri | 6:48eeb41188dd | 109 | // robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 6:48eeb41188dd | 110 | // robotControl.setDesiredPositionAndAngle(0, 0, PI/2); |
chrigelburri | 5:48a258f6335e | 111 | wait(0.1); |
chrigelburri | 6:48eeb41188dd | 112 | |
chrigelburri | 6:48eeb41188dd | 113 | ////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 114 | |
chrigelburri | 6:48eeb41188dd | 115 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI); |
chrigelburri | 6:48eeb41188dd | 116 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 6:48eeb41188dd | 117 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 118 | }; |
chrigelburri | 5:48a258f6335e | 119 | |
chrigelburri | 6:48eeb41188dd | 120 | robotControl.setDesiredPositionAndAngle(-1.00f, 1.0f, -PI/2); |
chrigelburri | 6:48eeb41188dd | 121 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 6:48eeb41188dd | 122 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 123 | }; |
chrigelburri | 6:48eeb41188dd | 124 | |
chrigelburri | 6:48eeb41188dd | 125 | robotControl.setDesiredPositionAndAngle(-1.0f, 0.0f, 0); |
chrigelburri | 6:48eeb41188dd | 126 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 6:48eeb41188dd | 127 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 128 | }; |
chrigelburri | 2:d8e1613dc38b | 129 | |
chrigelburri | 6:48eeb41188dd | 130 | robotControl.setDesiredPositionAndAngle(0.0, 0.0f, PI/2); |
chrigelburri | 6:48eeb41188dd | 131 | while(!(s.millis >= 55000)) { |
chrigelburri | 6:48eeb41188dd | 132 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 133 | }; |
chrigelburri | 6:48eeb41188dd | 134 | |
chrigelburri | 6:48eeb41188dd | 135 | |
chrigelburri | 6:48eeb41188dd | 136 | |
chrigelburri | 6:48eeb41188dd | 137 | |
chrigelburri | 6:48eeb41188dd | 138 | |
chrigelburri | 6:48eeb41188dd | 139 | |
chrigelburri | 6:48eeb41188dd | 140 | |
chrigelburri | 6:48eeb41188dd | 141 | |
chrigelburri | 6:48eeb41188dd | 142 | |
chrigelburri | 6:48eeb41188dd | 143 | |
chrigelburri | 6:48eeb41188dd | 144 | |
chrigelburri | 6:48eeb41188dd | 145 | |
chrigelburri | 6:48eeb41188dd | 146 | //////////////////////////////////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 147 | |
chrigelburri | 6:48eeb41188dd | 148 | |
chrigelburri | 2:d8e1613dc38b | 149 | |
chrigelburri | 6:48eeb41188dd | 150 | //Zum Umfang einstellen |
chrigelburri | 6:48eeb41188dd | 151 | /* |
chrigelburri | 6:48eeb41188dd | 152 | robotControl.setDesiredPositionAndAngle(0.0f, 1.0f, PI/2); |
chrigelburri | 6:48eeb41188dd | 153 | while(!(s.millis >= 20000)) { |
chrigelburri | 2:d8e1613dc38b | 154 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 155 | }; |
chrigelburri | 6:48eeb41188dd | 156 | |
chrigelburri | 2:d8e1613dc38b | 157 | |
chrigelburri | 6:48eeb41188dd | 158 | */ |
chrigelburri | 6:48eeb41188dd | 159 | |
chrigelburri | 6:48eeb41188dd | 160 | ///////////////oder////////////////// |
chrigelburri | 6:48eeb41188dd | 161 | |
chrigelburri | 6:48eeb41188dd | 162 | |
chrigelburri | 6:48eeb41188dd | 163 | // Zum radabstand einstellen |
chrigelburri | 6:48eeb41188dd | 164 | |
chrigelburri | 6:48eeb41188dd | 165 | /* |
chrigelburri | 6:48eeb41188dd | 166 | int sek = 1000; |
chrigelburri | 6:48eeb41188dd | 167 | int step = 1000; |
chrigelburri | 6:48eeb41188dd | 168 | int i = 0; |
chrigelburri | 6:48eeb41188dd | 169 | int totalTurns = 5; |
chrigelburri | 6:48eeb41188dd | 170 | |
chrigelburri | 6:48eeb41188dd | 171 | while(i >= totalTurns) { |
chrigelburri | 6:48eeb41188dd | 172 | robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI); |
chrigelburri | 6:48eeb41188dd | 173 | while(!(s.millis >= sek)) { |
chrigelburri | 6:48eeb41188dd | 174 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 175 | }; |
chrigelburri | 6:48eeb41188dd | 176 | sek += step; |
chrigelburri | 6:48eeb41188dd | 177 | |
chrigelburri | 6:48eeb41188dd | 178 | robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, -PI/2); |
chrigelburri | 6:48eeb41188dd | 179 | while(!(s.millis >= sek)) { |
chrigelburri | 6:48eeb41188dd | 180 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 181 | }; |
chrigelburri | 6:48eeb41188dd | 182 | sek += step; |
chrigelburri | 5:48a258f6335e | 183 | |
chrigelburri | 6:48eeb41188dd | 184 | robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, 0); |
chrigelburri | 6:48eeb41188dd | 185 | while(!(s.millis >= sek)) { |
chrigelburri | 6:48eeb41188dd | 186 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 187 | }; |
chrigelburri | 6:48eeb41188dd | 188 | sek += step; |
chrigelburri | 6:48eeb41188dd | 189 | |
chrigelburri | 6:48eeb41188dd | 190 | robotControl.setDesiredPositionAndAngle(0.0f, 0.0f, PI/2); |
chrigelburri | 6:48eeb41188dd | 191 | while(!(s.millis >= sek)) { |
chrigelburri | 6:48eeb41188dd | 192 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 193 | }; |
chrigelburri | 6:48eeb41188dd | 194 | sek += step; |
chrigelburri | 6:48eeb41188dd | 195 | |
chrigelburri | 6:48eeb41188dd | 196 | i++; |
chrigelburri | 6:48eeb41188dd | 197 | } |
chrigelburri | 6:48eeb41188dd | 198 | */ |
chrigelburri | 6:48eeb41188dd | 199 | |
chrigelburri | 6:48eeb41188dd | 200 | |
chrigelburri | 6:48eeb41188dd | 201 | //////////////////////////////////////////////////////// |
chrigelburri | 6:48eeb41188dd | 202 | |
chrigelburri | 6:48eeb41188dd | 203 | |
chrigelburri | 6:48eeb41188dd | 204 | |
chrigelburri | 6:48eeb41188dd | 205 | // Epä Parkour fahrä |
chrigelburri | 6:48eeb41188dd | 206 | /* |
chrigelburri | 6:48eeb41188dd | 207 | robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); |
chrigelburri | 6:48eeb41188dd | 208 | wait(0.1); |
chrigelburri | 5:48a258f6335e | 209 | |
chrigelburri | 6:48eeb41188dd | 210 | robotControl.setDesiredPositionAndAngle(-1.20f, 1.50f, 3*PI/4); |
chrigelburri | 6:48eeb41188dd | 211 | while(!(robotControl.getDistanceError() <= 0.4)) { |
chrigelburri | 6:48eeb41188dd | 212 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 213 | }; |
chrigelburri | 6:48eeb41188dd | 214 | |
chrigelburri | 6:48eeb41188dd | 215 | robotControl.setDesiredPositionAndAngle(-1.20f, 2.5f, PI/4); |
chrigelburri | 6:48eeb41188dd | 216 | while(!(robotControl.getDistanceError() <= 0.4)) { |
chrigelburri | 6:48eeb41188dd | 217 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 218 | }; |
chrigelburri | 6:48eeb41188dd | 219 | |
chrigelburri | 6:48eeb41188dd | 220 | robotControl.setDesiredPositionAndAngle(-0.45f, 3.2f, 3*PI/4); |
chrigelburri | 6:48eeb41188dd | 221 | while(!(robotControl.getDistanceError() <= 0.4)) { |
chrigelburri | 6:48eeb41188dd | 222 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 223 | }; |
chrigelburri | 6:48eeb41188dd | 224 | |
chrigelburri | 6:48eeb41188dd | 225 | robotControl.setDesiredPositionAndAngle(-1.0f, 3.6f, PI); |
chrigelburri | 6:48eeb41188dd | 226 | while(!(robotControl.getDistanceError() <= 0.2)) { |
chrigelburri | 6:48eeb41188dd | 227 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 228 | }; |
chrigelburri | 6:48eeb41188dd | 229 | |
chrigelburri | 6:48eeb41188dd | 230 | robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); |
chrigelburri | 6:48eeb41188dd | 231 | while(!(robotControl.getDistanceError() <= 0.1)) { |
chrigelburri | 6:48eeb41188dd | 232 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 233 | }; |
chrigelburri | 5:48a258f6335e | 234 | |
chrigelburri | 6:48eeb41188dd | 235 | robotControl.setDesiredPositionAndAngle(-2.5f, 3.0f, -PI/2); |
chrigelburri | 6:48eeb41188dd | 236 | while(!(robotControl.getDistanceError() <= 0.4)) { |
chrigelburri | 6:48eeb41188dd | 237 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 238 | }; |
chrigelburri | 6:48eeb41188dd | 239 | |
chrigelburri | 6:48eeb41188dd | 240 | robotControl.setDesiredPositionAndAngle(-1.75f, 1.30f, -PI/2); |
chrigelburri | 6:48eeb41188dd | 241 | while(!(robotControl.getDistanceError() <= 0.06)) { |
chrigelburri | 6:48eeb41188dd | 242 | state.savePlotFile(s); |
chrigelburri | 6:48eeb41188dd | 243 | }; |
chrigelburri | 6:48eeb41188dd | 244 | |
chrigelburri | 4:3a97923ff2d4 | 245 | |
chrigelburri | 6:48eeb41188dd | 246 | */ |
chrigelburri | 6:48eeb41188dd | 247 | |
chrigelburri | 6:48eeb41188dd | 248 | |
chrigelburri | 6:48eeb41188dd | 249 | |
chrigelburri | 6:48eeb41188dd | 250 | |
chrigelburri | 6:48eeb41188dd | 251 | /* |
chrigelburri | 6:48eeb41188dd | 252 | printf("here we go... \n"); |
chrigelburri | 6:48eeb41188dd | 253 | AdkTerm.setupDevice(); |
chrigelburri | 6:48eeb41188dd | 254 | printf("Android Development Kit: start\r\n"); |
chrigelburri | 6:48eeb41188dd | 255 | USBInit(); |
chrigelburri | 6:48eeb41188dd | 256 | while (!(s.millis >= 60000)) { |
chrigelburri | 6:48eeb41188dd | 257 | USBLoop(); |
chrigelburri | 6:48eeb41188dd | 258 | |
chrigelburri | 6:48eeb41188dd | 259 | printf("x: %f y: %f theta: %f", AdkTerm.getx(), AdkTerm.getx(), AdkTerm.getx() ) |
chrigelburri | 6:48eeb41188dd | 260 | |
chrigelburri | 6:48eeb41188dd | 261 | if( AdkTerm.getx() == 99) { |
chrigelburri | 6:48eeb41188dd | 262 | break; |
chrigelburri | 6:48eeb41188dd | 263 | } |
chrigelburri | 6:48eeb41188dd | 264 | } |
chrigelburri | 6:48eeb41188dd | 265 | */ |
chrigelburri | 2:d8e1613dc38b | 266 | |
chrigelburri | 2:d8e1613dc38b | 267 | state.savePlotFile(s); |
chrigelburri | 1:6cd533a712c6 | 268 | state.closePlotFile(); |
chrigelburri | 1:6cd533a712c6 | 269 | state.stop(); |
chrigelburri | 1:6cd533a712c6 | 270 | robotControl.setEnable(false); |
chrigelburri | 1:6cd533a712c6 | 271 | } |